Begin by bringing a pot of water to a boil over high heat. Add the brown rice udon noodles and cook according to package instructions, typically for about 6-8 minutes until tender but still firm. Once cooked, drain the noodles and rinse them under cold water to stop the cooking process and prevent sticking. Set the cooled noodles aside in a large mixing bowl.

In a medium bowl, combine the soy sauce (or tamari), tahini, rice vinegar, maple syrup, toasted sesame oil, fresh lime juice, minced ginger, and minced garlic. Using a whisk, mix the ingredients together vigorously for several seconds until the dressing is smooth and creamy.

While the dressing is being made, rinse and slice the cucumber into thin matchsticks. Next, thinly slice the green onion and chop the fresh cilantro leaves. Set all the prepared vegetables aside.

In the large mixing bowl with the cooled noodles, add the sliced cucumbers and three-quarters of the prepared dressing. Using tongs or two forks, gently toss everything together until well coated.

Transfer the tossed noodle mixture to a serving platter or bowl, topping with the remaining sliced cucumbers, green onions, chopped cilantro, and a handful of roughly chopped roasted peanuts or cashews. Drizzle the remaining dressing over the top if desired.

For optimal taste, cover the salad and place it in the refrigerator to chill for 30 minutes. Alternatively, you can enjoy it immediately if you're short on time.